Search International and National Patent Collections

1. (WO2017148730) METHOD FOR UPDATING AN OCCUPANCY MAP AND AUTONOMOUS VEHICLE

Pub. No.:    WO/2017/148730    International Application No.:    PCT/EP2017/053843
Publication Date: Sat Sep 09 01:59:59 CEST 2017 International Filing Date: Wed Feb 22 00:59:59 CET 2017
IPC: G05D 1/02
Applicants: KUKA DEUTSCHLAND GMBH
Inventors: MEYER-DELIUS, Daniel
BALDINI, Marco
KÜMMERLE, Rainer
Title: METHOD FOR UPDATING AN OCCUPANCY MAP AND AUTONOMOUS VEHICLE
Abstract:
The invention relates to a method for updating an occupancy map (30) assigned to an environment (20), and a mobile vehicle (1). According to the method, an occupancy map (30) having a plurality of discrete cells (7) is provided, each of said cells comprising original occupancy information about the original occupancy of corresponding regions of the environment (20). A partial region of the environment (20) is scanned by a sensor (6) of a vehicle (1). On the basis of the scanned partial region of the environment (20), discrepancies between the current occupancy of the partial region and the original occupancy information of the corresponding cells (7) of the occupancy map (30) are identified and the identified discrepancies are bundled to form a correction occupancy map (61, 81), which is assigned to the scanned partial region of the environment (20) and the cells of which each comprise occupancy information about the current occupancy of the partial region. The occupancy map (30) is subsequently updated by the occupancy information of the cells (7) assigned to the partial region being updated by the corresponding occupancy information of the cells of the correction occupancy map (61, 81).